Gimbal having parallel stability mechanism

ABSTRACT

The present disclosure describes devices and methods for providing movement of a payload about at least two degrees of freedom. A gimbal mechanism as described herein can provide rotation of a payload about at least two different axes, wherein the rotation about the two axes is controlled by two actuators that can be actuated independently of one another. The two actuators can be fixed in position and orientation relative to one another, such that neither actuator is driven by the other. Therefore, the gimbal mechanism can control movement of the payload about two degrees of freedom in a parallel manner. The gimbal mechanisms described herein can have a compact configuration that allows for minimizing the volume and weight of the gimbal mechanisms, while improving the stability of movement provided by the gimbal mechanisms.

CROSS-REFERENCE

The present application is a continuation of PCT ApplicationPCT/CN2015/086992, filed on Aug. 14, 2015, entitled “Gimbal HavingParallel Stability Mechanism” (attorney docket no. 45236-797.601), theentire contents of which are incorporated herein by reference.

BACKGROUND

Unmanned vehicles, such as ground vehicles, air vehicles, surfacevehicles, underwater vehicles, and spacecraft, have been developed for awide range of applications including surveillance, search and rescueoperations, exploration, and other fields. In some instances, unmannedvehicles may be equipped with a payload configured to collect dataduring flight. For example, unmanned aerial vehicles (UAV) may beequipped with cameras for aerial photography. A payload may be coupledto an unmanned vehicle via a gimbal mechanism that provides movement ofthe payload in one or more degrees of freedom.

However, existing gimbal mechanisms for payloads coupled to unmannedvehicles can be less than ideal. In some instances, the gimbal mechanismmay comprise a serial mechanism wherein a motor of one stage becomes ofload of another succeeding stage, which may not be optimal forminimizing the volume and weight of the gimbal mechanism. In someinstances, the gimbal mechanism may provide less than ideal stability tothe payload.

SUMMARY

A need exists for improved gimbal mechanisms for supporting a payload,the improved gimbal mechanisms having reduced volume and weight whileproviding stability of movement to the payload. The present disclosuredescribes devices and methods for providing movement of a payload aboutat least two degrees of freedom. A gimbal mechanism as described hereincan provide rotation of a payload about at least two different axes,wherein the rotation about the two axes is controlled by two actuatorsthat can be actuated independently of one another. The two actuators canbe fixed in position and orientation relative to one another, such thatneither actuator is driven by the other. Therefore, the gimbal mechanismcan control movement of the payload about two degrees of freedom in aparallel manner. The gimbal mechanisms described herein can have acompact configuration that allows for minimizing or reducing the volumeand weight of the gimbal mechanisms, while improving the stability ofmovement provided by the gimbal mechanisms.

In one aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanisms comprises a first actuator providingrotation about a first actuator axis, and a second actuator providingrotation about a second actuator axis different from the first actuatoraxis. The gimbal mechanism further comprises a first coupler operativelycoupling the first actuator and the payload, the first couplerconfigured to affect rotation of the payload about the first actuatoraxis. The gimbal mechanism further comprises a second coupleroperatively coupling the second actuator and the payload, the secondcoupler configured to affect rotation of the payload about the secondactuator axis. The first coupler is configured to allow free rotation ofthe payload about the second actuator axis, and the second coupler isconfigured to allow free rotation of the payload about the firstactuator axis.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator and a second actuator, wherein the first actuator isconfigured to provide rotation about a first actuator axis, and thesecond actuator is configured to provide rotation about a secondactuator axis different from the first actuator axis. The method furthercomprises coupling the payload to a first coupler operatively coupled tothe first actuator, the first coupler configured to affect rotation ofthe payload about the first actuator axis. The method further comprisescoupling the payload to a second coupler operatively coupled to thesecond actuator, the second coupler configured to affect rotation of thepayload about the second actuator axis. The method further comprisesactuating one or more of the first actuator and the second actuator. Thefirst coupler is configured to allow free rotation of the payload aboutthe second actuator axis, and the second coupler is configured to allowfree rotation of the payload about the first actuator axis.

In another aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanism comprises a first actuator providingrotation about a first actuator axis, and a second actuator providingrotation about a second actuator axis different from the first actuatoraxis. The gimbal mechanism further comprises a first coupler operativelycoupling the first actuator and the payload, the first couplerconfigured to affect rotation of the payload about the first actuatoraxis. The gimbal mechanism further comprises a second coupleroperatively coupling the second actuator and the payload, the secondcoupler configured to affect rotation of the payload about the secondactuator axis. A position or orientation of the second actuator isindependent of an actuation of the first actuator, and a position ororientation of the first actuator is independent of an actuation of thesecond actuator.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator and a second actuator, wherein the first actuator isconfigured to provide rotation about a first actuator axis, and thesecond actuator is configured to provide rotation about a secondactuator axis different from the first actuator axis. The method furthercomprises coupling the payload to a first coupler operatively coupled tothe first actuator, the first coupler configured to affect rotation ofthe payload about the first actuator axis. The method further comprisescoupling the payload to a second coupler operatively coupled to thesecond actuator, the second coupler configured to affect rotation of thepayload about the second actuator axis. The method further comprisesactuating one or more of the first actuator and the second actuator. Aposition or orientation of the second actuator is independent of anactuation of the first actuator, and a position or orientation of thefirst actuator is independent of an actuation of the second actuator.

In another aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanism comprises a first actuator providingrotation about a first actuator axis, and a second actuator providingrotation about a second actuator axis different from the first actuatoraxis. The gimbal mechanism further comprises a first coupler operativelycoupling the first actuator and the payload, the first couplerconfigured to affect rotation of the payload about the first actuatoraxis. The gimbal mechanism further comprises a second coupleroperatively coupling the second actuator and the payload, the secondcoupler configured to affect rotation of the payload about the secondactuator axis. Both the first coupler and the second coupler aredirectly coupled to the payload.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator and a second actuator, wherein the first actuator isconfigured to provide rotation about a first actuator axis, and thesecond actuator is configured to provide rotation about a secondactuator axis different from the first actuator axis. The method furthercomprises coupling the payload to a first coupler operatively coupled tothe first actuator, the first coupler configured to affect rotation ofthe payload about the first actuator axis. The method further comprisescoupling the payload to a second coupler operatively coupled to thesecond actuator, the second coupler configured to affect rotation of thepayload about the second actuator axis. The method further comprisesactuating one or more of the first actuator and the second actuator.Both the first coupler and the second coupler are directly coupled tothe payload.

In another aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanism comprises a first actuator providingrotation about a first actuator axis, and a second actuator providingrotation about a second actuator axis different from the first actuatoraxis. The gimbal mechanism further comprises a first coupler operativelycoupling the first actuator and the payload, the first couplerconfigured to affect rotation of the payload about the first actuatoraxis. The gimbal mechanism further comprises a second coupleroperatively coupling the second actuator and the payload, the secondcoupler configured to affect rotation of the payload about the secondactuator axis. The first actuator and the second actuator are fixed inposition and orientation (1) relative to one another, and (2) relativeto a support structure configured to support at least one of the firstactuator or the second actuator.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator and a second actuator, wherein the first actuator isconfigured to provide rotation about a first actuator axis, and thesecond actuator is configured to provide rotation about a secondactuator axis different from the first actuator axis. The method furthercomprises coupling the payload to a first coupler operatively coupled tothe first actuator, the first coupler configured to affect rotation ofthe payload about the first actuator axis. The method further comprisescoupling the payload to a second coupler operatively coupled to thesecond actuator, the second coupler configured to affect rotation of thepayload about the second actuator axis. The method further comprisesactuating one or more of the first actuator and the second actuator. Thefirst actuator and the second actuator are fixed in position andorientation (1) relative to one another, and (2) relative to a supportstructure configured to support at least one of the first actuator orthe second actuator.

In another aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanism comprises a first actuator providingrotation about a central actuator axis at a first actuator speed, and asecond actuator co-axial with the first actuator, providing rotationabout the central actuator axis at a second actuator speed. The gimbalmechanism further comprises a differential member comprising adifferential gear operatively coupled to the first actuator and thesecond actuator, and a shaft extending between the first actuator andthe second actuator, the shaft having a input end coupled to thedifferential gear and an output end coupled to the payload. Thedifferential member is configured to rotate freely about a differentialmember axis, the differential member axis extending along a length ofthe shaft. The payload is configured to rotate about the centralactuator axis, the differential member axis, or both, based on the firstactuator speed and the second actuator speed.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator, a second actuator, and a differential member, whereinthe differential member comprises a differential gear operativelycoupled to the first actuator and the second actuator, and a shaftextending between the first actuator and the second actuator, the shaftcoupled to the differential gear at an input end. The method furthercomprises coupling the payload to an output end of the shaft, andactuating one or more of the first actuator and the second actuator. Thefirst actuator and the second actuator are configured to providerotation about a central actuator axis, and the differential member isconfigured to provide rotation about a differential member axis. Thepayload is configured to rotate about the central actuator axis, thedifferential member axis, or both, based on the first actuator speed andthe second actuator speed.

In another aspect of the present disclosure, a gimbal mechanism forproviding movement of a payload about at least two degrees of freedom isdescribed. The gimbal mechanism comprises a first actuator providingrotation about a central actuator axis at a first actuator speed, and asecond actuator co-axial with the first actuator, providing rotationabout the central actuator axis at a second actuator speed. The gimbalmechanism further comprises a differential member comprising adifferential gear operatively coupled to the first actuator and thesecond actuator, and a shaft having an input end coupled to thedifferential gear, and an output end coupled to the payload. Thedifferential member is configured to rotate freely about a differentialmember axis, the differential member axis extending along a length ofthe shaft. The payload is configured to rotate about the centralactuator axis, the differential member axis, or both, based on the firstactuator speed and the second actuator speed. The gimbal mechanism iscoupled to an aerial vehicle, and configured to provide a full rotationof the payload about the central actuator axis and a full rotation ofthe payload about the differential member axis.

In another aspect of the present disclosure, a method for providingmovement of a payload about at least two degrees of freedom isdescribed. The method comprises providing a gimbal mechanism comprisinga first actuator, a second actuator, and a differential member, whereinthe differential member comprises a differential gear operativelycoupled to the first actuator and the second actuator, and a shaftcoupled to the differential gear at an input end. The method furthercomprises coupling the payload to an output end of the shaft, andactuating one or more of the first actuator and the second actuator. Thefirst actuator and the second actuator are configured to providerotation about a central actuator axis, and the differential member isconfigured to provide rotation about a differential member axis. Thepayload is configured to rotate about the central actuator axis, thedifferential member axis, or both, based on the first actuator speed andthe second actuator speed. The gimbal mechanism is coupled to an aerialvehicle, and configured to provide a full rotation of the payload aboutthe central actuator axis and a full rotation of the payload about thedifferential member axis.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of an aerial vehiclemay apply to and be used for any movable object, such as any vehicle.Additionally, the devices and methods disclosed herein in the context ofaerial motion (e.g., flight) may also be applied in the context of othertypes of motion, such as movement on the ground or on water, underwatermotion, or motion in space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 illustrates an example of a gimbal mechanism for providingmovement of a payload about two degrees of freedom, in accordance withembodiments;

FIG. 2 illustrates the gimbal mechanism of FIG. 1 with one of theactuators removed;

FIG. 3 illustrates the gimbal mechanism of FIG. 1 with another one ofthe actuators removed;

FIG. 4 illustrates the operation of the gimbal mechanism of FIG. 1 inmultiple stages (e.g., stages A-F);

FIG. 5 illustrates another example of a gimbal mechanism for providingmovement of a payload about two degrees of freedom, in accordance withembodiments;

FIG. 6 is a schematic illustration by way of block diagram of a system600 for controlling a gimbal mechanism, in accordance with embodiments;

FIG. 7 illustrates an unmanned aerial vehicle, in accordance withembodiments;

FIG. 8 illustrates a movable object, in accordance with embodiments; and

FIG. 9 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION

Devices and methods described herein provide movement of a payloadcoupled to a carrier, about at least two degrees of freedom. The carriermay be a gimbal mechanism. Any description herein of a gimbal mechanismmay relate to any type of carrier that may be used to support thepayload, and which may provide movement of the payload relative to asupport structure that is carrying the carrier. A gimbal mechanism asdescribed herein can provide rotation of a payload about at least twodifferent axes, wherein the rotation about the two axes is controlled bytwo actuators that can be actuated independently of one another. The twoor more actuators can be fixed in position and orientation relative toone another, such that neither actuator is driven by the other. Thegimbal mechanism may provide a rotation of a payload about multiple axes(e.g., two or more, three or more, four or more, five or more, etc.).For each axis, the gimbal mechanism may include a corresponding gimbalcomponent that may include an actuator and/or frame component.Therefore, the gimbal mechanism can control movement of the payloadabout at least two degrees of freedom in a parallel manner. The gimbalmechanisms described herein can have a compact configuration that allowsfor minimizing or reduction of the volume and/or weight of the gimbalmechanisms, while improving the stability of movement provided by thegimbal mechanisms.

An aerial vehicle, such as an unmanned aerial vehicle (UAV), may beequipped with a payload, such as a camera for aerial photography. Such apayload can be supported with a structure, such as a gimbal mechanism,that provides for movement of the payload about one or more degrees offreedom. When the payload is coupled to a UAV, which is usually limitedin volume and weight, the payload is preferably small and lightweight.Therefore, a gimbal mechanism to be coupled to a UAV for supporting apayload preferably has a minimal volume and weight, while providingstable motion of the payload about at least two degrees of freedom. Thismay allow the payload, such as a camera to capture views from manydifferent positions and orientations.

Any description herein of a payload may apply to any type of payload,such as a camera, or vice versa. A payload may capture and/or senseinformation about the surrounding environment (e.g., sense visualinformation, thermal information, audio information, acousticinformation, ultrasonic information, motion-related information,inertial information, magnetic information, electrical information, orcommunication information). The payload may optionally provide anemission, such as light, sound, vibrations, or any other type ofemission. The payload may or may not ally the UAV to interact with thesurrounding environment (e.g., robotic arm). Any description of a cameramay apply to any image capturing device. The camera may be configured tocapture dynamic (e.g., video) and/or still (e.g., snapshot) images.

The exemplary gimbal mechanisms described herein comprise at least twoactuators or motors that do not drive each other, such that one motordoes not become a load driven by the other motor. The motors may operateindependently of one another. For instance, the two motors may controlthe attitude of the supported camera in a parallel manner, independentlyof each other. Therefore, the presently disclosed gimbal mechanisms canaugment the stability of any two degrees of freedom such as yaw, roll,and/or pitch of the supported camera, while minimizing the weight of themotors and the volume of the gimbal mechanism.

Referring now to the drawings, FIG. 1 illustrates an example of a gimbalmechanism 100 for providing movement of a payload 10 about at least twodegrees of freedom, in accordance with embodiments. The gimbal mechanism100 comprises a first actuator 110 configured to provide rotation abouta first actuator axis 115, and a second actuator 150 configured toprovide rotation about a second actuator axis 155. The first actuatoraxis 115 can be different from the second actuator axis 155. Forexample, the first actuator axis and the second actuator axis can bepositioned at any non-zero angle relative to one another, such as at a90° angle as shown in FIG. 1. The first actuator axis and the secondactuator axis may be at non-parallel angles relative to one another.They may be substantially orthogonal to one another. The first andsecond actuator axes may be stationary, relative to one another orrelative to an environment. Alternatively, they may move, relative to anenvironment or relative to one another. In one example, a first actuatoraxis may be substantially vertical relative to an orientation of a UAV.A second actuator axis may be substantially horizontal relative to anorientation of the UAV.

The gimbal mechanism 100 further comprises a first coupler 120operatively coupling the first actuator and the payload, and a secondcoupler 160 operatively coupling the second actuator and the payload.The first coupler may optionally directly contact the first actuator ormay indirectly contact the payload through one or more intermediarystructures. The intermediary structures may optionally be stationaryrelative to the first actuator. The first coupler may optionallydirectly contact the payload or may indirectly contact the payloadthrough one or more intermediary structures. The intermediary structuresmay optionally be stationary relative to the payload. The second couplermay optionally directly contact the second actuator or may indirectlycontact the payload through one or more intermediary structures. Theintermediary structures may optionally be stationary relative to thesecond actuator. The second coupler may optionally directly contact thepayload or may indirectly contact the payload through one or moreintermediary structures. The intermediary structures may optionally bestationary relative to the payload. The first coupler and/or the secondcoupler may be formed from a single integral piece. Alternatively, thefirst coupler and/or second coupler may be each formed from multipleindividual pieces. The multiple individual pieces may be stationaryrelative to one another. Alternatively, the multiple individual piecesmay be movable relative to one another. The individual pieces may bemovable relative to one another via rotation and/or displacement.

The first coupler can be configured to affect rotation of the payloadabout the first actuator axis, while the second coupler can beconfigured to affect rotation of the payload about the second actuatoraxis. Thus, the payload supported by the gimbal mechanism 100, such as acamera, can move about two degrees of freedom, one degree of freedomcomprising rotation about the first actuator axis 115 and another degreeof freedom comprising rotation about the second actuator axis 155. Forexample, for a payload comprising a camera in the orientation shown inFIG. 1, the gimbal mechanism 100 can control the yaw and the pitch ofthe camera. For example, the yaw of the camera may be directly affectedby the rotation of the first actuator about the first actuator axis. Thepitch of the camera may be directly affected by the rotation of thesecond actuator about the second actuator axis. In some instances, thefirst and second actuators may not affect the roll of the camera.Alternatively, the first and second actuators may indirectly affect rollof an image captured by the camera. Movement of the first and secondactuator in conjunction may or may not affect roll within an imagecaptured by the camera.

The gimbal mechanism as shown in FIG. 1 can be configured to providerotation of less than or equal to 90° of the payload about the firstactuator axis and/or about the second actuator axis. The gimbalmechanism may be configured to provide a rotation of less than or equalto 15°, 30°, 45°, 60°, 75°, 90°, 105°, 120°, 135°, 150°, 165°, or 180°about the first actuator axis and/or about the second actuator axis. Insome instances, the gimbal mechanism may be configured to provide arotation of greater than any of the degree values described. The gimbalmechanism may permit a rotation within a range of degrees fallingbetween any two of the values described.

In the configuration shown in FIG. 1, the first actuator and the secondactuator are fixed in spatial position and orientation relative to oneanother, such that neither the first actuator nor the second actuator isdriven by the other. Actuation of the first actuator does not affect aposition or orientation of the second actuator or the second coupler.Similarly, actuation of the second actuator does not affect a positionor orientation of the first actuator or the first coupler. Therefore,the gimbal mechanism 100 can control the two degrees of freedom in aparallel manner. For instance, the yaw of the payload may be affectedwithout affecting a pitch of the payload, or vice versa. This may occurwhen the first and second actuators are operating separately or inconcert. Optionally, the yaw of the payload may affect a pitch of thepayload, or vice versa when the first and second actuators are operatingsimultaneously. The first actuator 110 and second actuator 150 may beactuated independently, for example via separate electrical connections145 and 195 that drive each actuator independently. In some instances, acontroller may be provided that may generate one or more signals todrive the first actuator and the second actuator. The controller maycommunicate with the one or more actuators via the electricalconnections. The electrical connections may include one or moreelectrical wires, connectors, printed circuits, or communication lines.The controller may control the first and second actuators independentlyof one another. The first actuator and the second actuator can thuscollectively control the attitude of the payload in parallel, such thatthe stability in these two degrees of freedom can be improved. Inaddition, the compact configuration of the first and second actuatorscan help minimize or reduce the volume of the gimbal mechanism 100.

The gimbal mechanism 100 may further comprise a support structure 200,wherein the first actuator and the second actuator may be coupled to thesupport structure. The support structure 200 may comprise a fixedconfiguration, such as the fixed L-shape of the frame shown in FIG. 1.The first actuator 110 can be coupled to the support structure at afirst location 205, and the second actuator 150 can be coupled to thesupport structure at a second location 210 different from the firstlocation. For example, as shown, the first location 205 may be disposedon a first plane and the second location 210 may be disposed on a secondplane. The second plane may be substantially orthogonal to the firstplane. The second plane may be at any non-parallel angle to the firstplane. The first and second actuators may be supported at the first andsecond locations within an inner surface or region of the supportstructure. The first and second actuators can be coupled to the supportstructure directly or indirectly, for example via one or more adapters.The first and second actuators may be fixed in position and orientationrelative to the support structure. The first and second actuators may befixed in position and orientation relative to one another. The firstplane and the second plane may be stationary relative to one another.

FIG. 2 illustrates the gimbal mechanism 100 of FIG. 1 with the secondactuator 150 removed. The first coupler 120 can be configured to allowfree rotation of the payload about the second actuator axis 155. Thefirst coupler 120, coupling the payload 10 to the first actuator 110,may comprise a first cantilever member 125 and a first joint member 140.

The first cantilever member 125 may be coupled to the first actuator110, while the first joint member 140 may be coupled to the payload 10.The first cantilever member may be configured to translate a torquegenerated by the first actuator to the payload, via the first jointmember. The first cantilever member may have a protruding portion with alength extending in a direction parallel to the first actuator axis 115.The protruding portion of the first cantilever may move around the firstactuator axis. Optionally, the first actuator axis does not intersectthe protruding portion. The first cantilever member may optionally havea rotating base portion. The rotating base portion may rotate about thefirst actuator axis, which may intersect the rotating base portion. Theprotruding portion may be connected to the rotating base portion or maybe integrally formed with the rotating base portion. The protrudingportion may remain stationary relative to the rotating base portion, ormay be movable relative to rotating base portion.

The first joint member may be supported by the first cantilever member.The first joint member may connect to the first cantilever member, andmay be rotated about a first joint member axis 142 of the first jointmember. The first joint member may connect to the protruding portion ofthe first cantilever member. Rotation of the first cantilever memberabout the first actuator axis may cause the first joint member tocorrespondingly rotate about the first actuator axis. The first actuatoraxis may or may not intersect with the first joint member. A length ofthe first joint member may be substantially orthogonal to the firstactuator axis.

The first joint member can be coupled to the payload such that thepayload is free to rotate about the first joint member axis 142. Thefirst joint member may be connected to one or more intermediarystructures or adaptors that may be connected to the payload. The payloadmay rotate relative to the first joint member about the first jointmember axis without the first joint member rotating relative to thefirst cantilever member, the first joint member may rotate relative tothe first cantilever member about the first joint member axis withoutthe payload rotating relative to the first joint member, or bothrotation of the first joint member relative to the payload and the firstcantilever member may be permitted about the first joint member axis.The first joint member may permit rotation of the payload about thefirst joint member axis. The first joint member may permit rotation ofthe payload about a second actuator axis. The first joint member axis142 can be configured to be co-axial with the second actuator axis 155during actuation of the second actuator, thereby allowing free rotationof the payload about the second actuator axis. When the first actuatoris actuated such that the orientation of the first joint member axischanges, the first joint member axis can be configured to remainco-axial with an axis comprising a component of the second actuatoraxis, such that the payload remains free to rotate about at least acomponent of the second actuator axis during actuation of the secondactuator. The principle of operation of the gimbal mechanism 100 isdescribed in further detail herein with respect to FIG. 4.

FIG. 3 illustrates the gimbal mechanism 100 of FIG. 1A with the firstactuator 110 removed. The second coupler 160 can be configured to allowfree rotation of the payload about the first actuator axis 115. Thesecond coupler 160, coupling the payload 10 to the second actuator 150,may comprise a second cantilever member 165 and a second joint member190.

The second cantilever member 165 may be coupled to the second actuator150, while the second joint member may be coupled to the payload. Thesecond cantilever member may be configured to translate a torquegenerated by the second actuator to the payload, via the second jointmember. The second cantilever member 165 may comprise two or morecantilever components, such as first cantilever component 180 and secondcantilever component 185. The first cantilever component 180 may extendperpendicularly from the plane of the second actuator 150. The firstcantilever component may have a protruding portion with a lengthextending in a direction parallel to the second actuator axis 155. Theprotruding portion of the first cantilever component may move around thesecond actuator axis. Optionally, the second actuator axis does notintersect the protruding portion. The first cantilever component mayoptionally have a rotating base portion. The rotating base portion mayrotate about the second actuator axis, which may intersect the rotatingbase portion. The protruding portion may be connected to the rotatingbase portion or may be integrally formed with the rotating base portion.The protruding portion may remain stationary relative to the rotatingbase portion, or may be movable relative to rotating base portion.

The second cantilever component 185 may comprise an L-shaped member,having a first side 187 coupled to the first cantilever component 180,and a second side 189 coupled to the second joint member 190. The planeof the first side may be parallel to the plane of the protruding portionof the first cantilever component. The first side may be coupled to theprotruding portion via a hinge 195. Optionally, the first side may befree to rotate about a hinge axis 197 of the hinge, wherein the hingeaxis may be orthogonal to the plane of the first side. The first sidemay be coupled to the second side at a fixed orientation, such that thefirst side does not move relative to the second side. For example, thefirst side may be fixedly coupled to the second side such that the planeof the first side is orthogonal to the plane of the second side. Theplane of the second side may be orthogonal to the first actuator axis115. The plane of the second side may be orthogonal to the second jointmember axis 192. The second joint member may be coupled to the secondside such that the second joint member is free to rotate about thesecond joint member axis. The second joint member may be free to rotateabout the second joint member axis without affecting rotation of thesecond side. The second side may be free to rotate about the secondjoint member axis without affecting rotation of the second joint member.Optionally, the first side and the second side may be connectedindirectly via one or more intermediary structures, which may includeone or more additional linkages providing additional degrees of freedom.

The second joint member 190 may be supported by the second cantilevercomponent 185 of the second cantilever member 165. Rotation of thesecond cantilever member about the second actuator axis may cause thesecond joint member to correspondingly rotate about the second actuatoraxis. The second actuator axis may or may not intersect with the secondjoint member. A length of the second joint member may be orthogonal tothe second actuator axis.

The second joint member can be coupled to the payload such that thepayload is free to rotate about the second joint member axis 192. Thesecond joint member may be connected to one or more intermediarystructures or adaptors that may be connected to the payload. The payloadmay rotate relative to the second joint member about the second jointmember axis without the second joint member rotating relative to thesecond cantilever member, the second joint member may rotate relative tothe second cantilever member about the second joint member axis withoutthe payload rotating relative to the second joint member, or bothrotation of the second joint member relative to the payload and thesecond cantilever member may be permitted about the second joint memberaxis. The second joint member may permit rotation of the payload aboutthe second joint member axis. The second joint member may permitrotation of the payload about a first actuator axis. As shown in FIG. 3,the configuration of the second cantilever member 165 can position thesecond joint member 190 such that the second joint member axis 192 isco-axial with the first actuator axis 115 during actuation of the firstactuator, thereby allowing free rotation of the payload about the firstactuator axis.

The second cantilever member 165 can be adjustably configured, in orderto allow the payload to rotate freely about the second actuator axis 155at any orientation of the payload with respect to the first actuatoraxis 115. For example, two or more cantilever components of the secondcantilever member 165 can be movably coupled to one another, such thatthe two or more cantilever components form a multi-bar linkage. In theexemplary embodiment of FIG. 1C, the first cantilever component 180 andthe second cantilever component 185 are joined at a hinge 196 to allowthe second cantilever component to rotate freely about a hinge axis 197,thus forming a multi-bar linkage. The multi-bar linkage can allowadjustment of the position and orientation of the second joint member190 during actuation of the second actuator 150, so as to maintain thesecond joint member axis 192 orthogonal to the first joint member axis142. The maintenance of the second joint member axis at an orthogonalorientation with respect to the first joint member axis can allow thepayload to rotate freely about the first joint member axis and hence thesecond actuator axis, even when the first actuator is actuated to so asto offset the alignment between the first joint member axis and thesecond actuator axis.

While FIGS. 1-3 illustrate the gimbal mechanism 100 having the firstcoupler 120 and second coupler 160 having particular shapes and disposedin particular spatial positions and orientations, it will be obvious tothose skilled in the art that such shapes, spatial positions, andorientations are provided by way of example only. The shape of the firstand/or second couplers may be modified in any way, to accommodate aspecific shape of the payload so as to avoid interference. In addition,the first or second coupler may comprise any spatial position ororientation that is suitable for translating the torque generated by theactuator coupled thereto, while allowing free rotation of the payloadabout the axis of rotation of the other actuator.

The payload 10 may be coupled to the first coupler 120 and secondcoupler 160 directly. For example, the first coupler can be directlycoupled to the payload 10 at a first location 12 of the payload via thefirst joint member 140, and the second coupler can be directly coupledto the payload at a second location 14 of the payload via the secondjoint member 190. For the camera 20 shown in FIGS. 1-3, the firstlocation 12 can be a location on a lateral side of the camera adjacentthe second actuator 150, while the second location 14 can be a locationon a bottom side of the camera. The first location and the secondlocation on the payload may be on surfaces that are orthogonal to oneanother, or non-parallel angles relative to one another. Alternatively,the payload 10 may be coupled to the first coupler and the secondcoupler indirectly, for example via an adapter 30. The adapter cancomprise a gimbal coupling mechanism to couple to the first and secondcouplers, and a payload coupling mechanism to couple to the payload. Forexample, the gimbal coupling mechanism can comprise one or more cavitiesconfigured to receive one or more of the first joint member 140 at afirst location or the second joint member 190 at a second locationdifferent from the first location. The payload coupling mechanism cancomprise one or more mechanical fasteners configured to fasten thepayload onto the adapter, or one or more adhesive surfaces configured toadhere to a surface of the payload. Alternatively or in combination, thepayload coupling mechanism can comprise a mounting structure coupled tothe adapter, the mounting structure configured to securely couple to thepayload, for example via mechanical fasteners, adhesives, or one or moremating connections. Alternatively or in combination, the payloadcoupling mechanism can comprise an enclosing structure coupled to theadapter, configured to enclose the payload therein so as to securelyengage the payload.

As shown in FIG. 1, the payload 10 may comprise a camera 20 having anoptical axis 25. The camera may have one or more lens that may focusalong the optical axis. The optical axis may be centered on a field ofview of the camera. The camera may be coupled to the gimbal mechanismsuch that the optical axis is adjustable. In some instances, the opticalaxis may be configured to be orthogonal to both the first actuator axis115 and the second actuator axis 155. Such an orientation may be astarting point for the camera orientation. In such a configuration, thegimbal mechanism 100 can control the yaw and pitch of the camera 20.Alternatively, the optical axis may be configured to be parallel to thefirst actuator axis. In such a configuration, the gimbal mechanism 100can control the roll and pitch of the camera. Alternatively, the opticalaxis may be configured to be parallel to the second actuator axis. Insuch a configuration, the gimbal mechanism 100 can control the yaw androll of the camera. Other orientations of the optical axis of the cameraare also possible.

While the gimbal mechanism 100 as illustrated in FIGS. 1-3 is configuredto provide two degrees of freedom, the mechanism may be further modifiedto provide one or more additional degrees of freedom. For example, thegimbal mechanism may comprise a third actuator configured to providerotation of the payload about a third actuator axis different from thefirst actuator axis and the second actuator axis. For the embodimentillustrated in FIGS. 1-3, the third actuator axis may, for example, bean axis orthogonal to both the first actuator axis 115 and the secondactuator axis 155. The third actuator axis may be parallel to theoptical axis 25 of the camera 20, such that the third actuator cancontrol the roll of the camera. In one example, the first and secondactuators may control the yaw and pitch of the camera, and the thirdactuator may control the roll of the camera. Alternatively, the firstand second actuators may control the yaw and roll of the camera, and thethird actuator may control the pitch of the camera. In anotherimplementation, the first and second actuators may control the pitch androll of the camera, and the third actuator may control the yaw of thecamera. The third actuator can be coupled to the first actuator or thesecond actuator, such that the third actuator is in series with thefirst actuator or the second actuator. The payload can be coupled to thethird actuator, such that the payload can rotate about the first,second, and third actuator axes.

The direction of the optical axis relative to the first actuator axisand/or the second actuator axis may change over time. In one example, aninitial position of the camera may have the optical axis of the camerabe orthogonal to the first actuator axis and the second actuator axis.The position of the camera may be changed such that the angle of theoptical axis relative to the first actuator axis is changed, and/or theangle of the optical axis relative to the second actuator axis ischanged. Using the first actuator to rotate the camera may cause theoptical axis to change angle relative to the second actuator axis. Usingthe second actuator to rotate the camera may cause the optical axis tochange angle relative to the first actuator axis. The first and secondactuators may be operated sequentially and/or simultaneously. Anoptional third actuator may be operated sequentially and/orsimultaneously with the first and second actuators.

FIG. 4 illustrates the operation of the gimbal mechanism 100 in multiplestages A-F. The gimbal mechanism is shown coupled to a payloadcomprising a camera 20. The gimbal mechanism may be used to control theorientation of the payload relative to a support structure about two ormore degrees of freedom.

Stage A shows the camera 20 in a default position and orientation,wherein the optical axis of the camera is orthogonal to both the firstactuator axis 115 and the second actuator axis 155. The first actuatoraxis is co-axial with the second joint member axis 192, and the secondactuator axis 155 is co-axial with the first joint member axis 142. Insome embodiments, the camera may be brought to a default position whenthe UAV, gimbal mechanism, or camera is powered off. The camera mayreturn to the default position from another position when the UAV,gimbal mechanism, or camera is being powered off. When the UAV, gimbalmechanism, or camera is being powered on, the camera may be at a defaultposition or may immediately assume the default position. In someinstances, the camera position may be changed from the default positionwhile the UAV, camera, and/or gimbal mechanism is powered on. The cameraposition may be changed while the UAV is in flight or while the UAV isin a landed state.

Stage B shows the camera after the first actuator 110 has been actuated,so as to change the orientation of the payload with respect to the firstactuator axis 115 (yaw). Specifically, the camera is shown to be pannedin the counterclockwise direction, as shown by the arrow 40. As thefirst actuator is actuated, the payload rotates freely about the secondjoint member axis 192, which is co-axial with the first actuator axis.The first joint member axis 142, however, is no longer co-axial with thesecond actuator axis 155, since actuation of the first actuator changesthe position of the first joint member 140 and hence the orientation ofthe first joint member axis.

Stage C shows the camera after the first actuator 110 has been furtheractuated and the second actuator 150 has also been actuated. Thepayload's orientation with respect to both the first actuator axis 115(yaw) and the second actuator axis 155 (pitch) has changed;specifically, the camera is shown to be panned further in thecounterclockwise direction and pitched downwards. In order toaccommodate rotation of the camera about the second actuator axis, whenthe second actuator is actuated, the position of the second cantilevercomponent 185 is adjusted (e.g., pivoted about the hinge 196) so as toorient the second joint member axis 192 orthogonally to the first jointmember axis 142. Such an adjustment of the position of the secondcantilever component allows the camera to rotate freely about the firstjoint member axis in response to the actuation of the second actuator.Thus, the pitch of the camera can be controlled via actuation of thesecond actuator, wherein the rotation of the camera (about an axisco-axial with the first joint member axis) comprises a component ofrotation about the second actuator axis.

Stages D and E show the camera after both the first actuator 110 and thesecond actuator 150 have been further actuated, so as to pan the camerafurther in the counterclockwise direction and pitch the camera furtherdownwards. As the orientation of the camera with respect to the firstactuator axis 115 changes further, the position of the second cantilevercomponent 185 adjusts further to maintain the second joint member axis192 at an orthogonal orientation with respect to the first joint memberaxis 142.

Stage F shows the camera after the second actuator 150 has been actuatedto pitch the camera upwards. Again, as the second actuator is actuated,the position of the second cantilever component 185 is automaticallyadjusted so as to maintain the first and second joint members in properalignment.

FIG. 4 shows that the gimbal mechanism 100 can control movement of apayload about two degrees of freedom simultaneously. The first andsecond actuators may be independently controlled to affect the overallmovement of the payload about the at least two degrees of freedom. Themechanism's configuration, allowing independent control of the payload'srotation about two degrees of freedom, can provide a compact and stablegimbal mechanism, particularly well-suited for incorporation with anunmanned aerial vehicle.

The gimbal configurations and embodiments described anywhere herein maypermit control of a camera about two or more degrees of freedom using acompact gimbal. In some instances, the ratio of the height of the gimbalmechanism relative to the height of the camera may be less than or equalto 3:1, 2:1, 1.5:1, 1.4:1, 1.3:1, 1.2:1, 1.1:1, or 1:1. In someinstances, the ratio of the height of the gimbal mechanism to the heightof the camera may be greater than any of the values described herein.The ratio of the height of the gimbal mechanism to the height of thecamera may fall within a range between any two of the values describedherein.

In some instances, the ratio of the length of the gimbal mechanismrelative to the length of the camera may be less than or equal to 3:1,2:1, 1.9:1, 1.8:1, 1.7:1, 1.6:1, 1.5:1, 1.4:1, 1.3:1, 1.2:1, 1.1:1, or1:1. The ratio of the length of the gimbal mechanism relative to thelength of the camera may fall within a range between any two of thevalues described herein. In some instances, ratio of the length of thegimbal mechanism relative to the length of the camera may be greaterthan any of the values described herein.

In some instances, the ratio of the volume of the gimbal mechanismrelative to the volume of the camera may be less than or equal to 10:1,7.5:1, 5:1, 2.5:1, or 1:1. The ratio of the volume of the gimbalmechanism relative to the volume of the camera may fall within a rangebetween any two of the values described herein. In some instances, theratio of the volume of the gimbal mechanism relative to the volume ofthe camera may be greater than any of the values described herein.

In some instances, the ratio of the weight of the gimbal mechanismrelative to the weight of the camera may be less than or equal to 3:1,2:1, 1.9:1, 1.8:1, 1.7:1, 1.6:1, 1.5:1, 1.4:1, 1.3:1, 1.2:1 or 1:1. Theratio of the weight of the gimbal mechanism relative to the weight ofthe camera may fall within a range between any two of the valuesdescribed herein. In some instances, the ratio of the weight of thegimbal mechanism relative to the weight of the camera may be greaterthan any of the values described herein.

The gimbal mechanism may be of a compact size. In some instances, theheight of the gimbal mechanism may be less than or equal to 15 cm, 10cm, 7 cm, 6 cm, 5 cm, 4.5 cm, 4 cm, 3.5 cm, 3 cm, 2 cm, or 1 cm. In someinstances, the height of the gimbal mechanism may be greater than any ofthe values described herein. The height of the gimbal mechanism may fallwithin a range between any two of the values described herein.

In some instances, the length of the gimbal mechanism may be less thanor equal to 10 cm, 7 cm, 5 cm, 4 cm, 3.5 cm, 3 cm, 2.5 cm, 2 cm, or 1cm. The length of the gimbal mechanism may fall within a range betweenany two of the values described herein. In some instances, the length ofthe gimbal mechanism may be greater than any of the values describedherein.

In some instances, the gimbal mechanism may have a volume that is lessthan or equal to 1000 cm³, 500 cm³, 200 cm³, 100 cm³, 90 cm³, 80 cm³, 70cm³, 60 cm³, 50 cm³, 40 cm³, 30 cm³, 20 cm³, or 10 cm³. The volume ofthe gimbal mechanism may fall within a range between any two of thevalues described herein. In some instances, the volume of the gimbalmechanism may be greater than any of the values described herein.

The gimbal mechanism may be lightweight. In some instances, the gimbalmechanism may have a weight that is less than or equal to 300 g, 200 g,150 g, 120 g, 110 g, 100 g, 90 g, 80 g, 70 g, 60 g, 40 g, 30 g, 20 g, or10 g. The weight of the gimbal mechanism may fall within a range betweenany two of the values described herein. In some instances, the weight ofthe gimbal mechanism may be greater than any of the values describedherein.

The gimbal configurations and embodiments described anywhere herein canhave the advantage of having a quicker response time to gimbalpositioning, since there can be more than one actuator or motorsimultaneously affecting movement of the gimbal. In addition, the gimbalconfigurations as described herein can support heavier payload, sincethe compact, parallel mechanism offers higher stiffness and stabilitycompared to a mechanism comprising a plurality of motors mounted inserial.

FIG. 5 illustrates another example of a gimbal mechanism 300 forproviding movement of a payload 10 about two degrees of freedom, inaccordance with embodiments. The gimbal mechanism 300 comprises a firstactuator 310 configured to provide rotation of the payload about acentral actuator axis 330 at a first speed. The gimbal mechanism 300further comprises a second actuator 320 co-axial with the firstactuator, configured to provide rotation of the payload about thecentral actuator axis at a second speed. The first speed and the secondspeed may be the same, or may be different. The first actuator and thesecond actuator may rotate independently of one another. Rotation of thefirst actuator may optionally not affect the second actuator and viceversa. The first and second actuators may be independently controlled.The direction of rotation of the first and second actuators may be thesame, or may be different.

The first actuator may rotate about a first actuator axis. The secondactuator may rotate about the second actuator axis. The first and secondactuator axes may be parallel to one another. The first and secondactuator axes may be the same axis, such as a central axis 330. Thefirst actuator and the second actuators may be coaxial.

The gimbal mechanism 300 further comprises a differential member 360,the differential member comprising a differential gear 345 and a shaft350. The differential gear can be operatively coupled to the firstactuator and the second actuator. The shaft can extend between the firstactuator and the second actuator, and comprise an input end 352 coupledto the differential gear and an output end 354 coupled to the payload.The differential member can be configured to provide rotation of thepayload about a differential member axis 360 extending along the lengthof the shaft 350, wherein the shaft can translate the torque generatedby the differential member to the payload. The shaft, which isoperatively coupled to the first and second actuators via thedifferential gear, can also translate the torque generated by the firstand second actuators to the payload.

Each of the first actuator and the second actuator may comprise a rotor315 fixedly coupled to an engagement mechanism 325, the engagementmechanism configured to engage or mash with the differential gear so asto couple the movement of the rotor and the differential gear. Theengagement mechanism may comprise, for example, an actuator gear or afriction wheel. The engagement mechanism and the differential gear mayboth be tapered, such that a tapered surface of the engagement mechanismengages a tapered surface of the differential gear.

The gimbal mechanism 300 may further comprise a central frame 400. Thefirst actuator 310, the second actuator 320, and the differential member340 can be supported with the central frame 400. For example, the firstactuator may be coupled to a first end of the central frame, and thesecond actuator may be coupled to a second end of the central frameopposite the first end. The longitudinal axis 405 of the central framemay be co-axial with the central actuator axis 330. The central framemay comprise a central joint member 410, configured to receive theportion 356 of the shaft 350 that extends between the first actuator andthe second actuator. The central joint member can be configured toprovide free rotation of the shaft 350, and the payload 10 coupledthereto, about both the central actuator axis 330 and the differentialmember axis 360. For example, the central joint member may comprise anactuator joint component 415 that is co-axial with and provides freerotation about the central actuator axis, and a differential jointcomponent 420 that is co-axial with and provides free rotation about thedifferential member axis. In one exemplary configuration, the portion356 of the shaft can be received within a differential joint component,which is in turn received within the actuator joint component. Theactuator joint component and the differential joint component may beorthogonal to each other, as shown.

The differential member axis 360 can be different from the centralactuator axis 330. For example, the first actuator axis and the secondactuator axis can be positioned at any non-zero angle relative to oneanother, such as at a 90° angle as shown in FIG. 5. Thus, the payloadsupported by the gimbal mechanism 300, such as a camera 20, can moveabout two degrees of freedom, one degree of freedom comprising rotationabout the central actuator axis 330 and another degree of freedomcomprising rotation about the differential member axis 360. The cameramay be coupled to the gimbal mechanism in many orientations. Forexample, as shown in FIG. 5, the camera may be oriented such that theoptical axis 25 of the camera is orthogonal to both the central actuatoraxis and the differential member axis. In this orientation, the gimbalmechanism can control the yaw of the camera via rotation of the cameraabout the central actuator axis, and the pitch of the camera viarotation of the camera about the differential member axis.Alternatively, the camera may be coupled to the gimbal mechanism suchthat that the optical axis of the camera is parallel to the centralactuator axis. In this orientation, the gimbal mechanism can control theroll of the camera via rotation of the camera about the central actuatoraxis, and the pitch of the camera via rotation of the camera about thedifferential member axis. Alternatively, the camera may be coupled tothe gimbal mechanism such that the optical axis of the camera isparallel to the differential member axis. In this orientation, thegimbal mechanism can control the yaw of the camera via rotation of thecamera about the central actuator axis, and the roll of the camera viarotation of the camera about the differential member axis.

The payload may be configured to rotate about the central actuator axis,the differential member axis, or both, based on the first actuator speedand the second actuator speed. For example, the angular speed ofrotation of the differential member about the differential member axismay be linearly related to the difference between the first actuatorspeed and the second actuator speed. The payload can be configured torotate about the central actuator axis without rotating about thedifferential member axis, if the first actuator speed and the secondactuator speed are identical and first actuator and the second actuatorare actuated in the same direction about the central actuator axis asviewed from one side of the gimbal mechanism. The payload can beconfigured to rotate about the differential member axis without rotatingabout the central actuator axis, if the first actuator speed and thesecond actuator speed are identical and the first actuator and thesecond actuator are actuated in opposite directions about the centralactuator axis as viewed from one side of the gimbal mechanism. Thepayload can be configured to rotate about both the central actuator axisand the differential member axis if the first actuator speed and thesecond actuator speed are different. The relationship between theangular speed of rotation of the payload about the differential memberaxis and the first and second actuator speeds can be modeled by thefollowing equation:

ω_(P)=ω₁−ω₂)/2

where ω_(Y) is the angular velocity of the payload rotating about thedifferential member axis, ω₁ is the angular velocity of the firstactuator, and ω₂ is the angular velocity of the second actuator.Similarly, the relationship between the angular speed of rotation of thepayload about the central actuator axis can be modeled by the followingequation:

ω_(Y)=(|ω1−ω₂|/2)*(D/d)

where ω_(Y) is the angular velocity of the payload rotating about thecentral actuator axis, ω₁ is the angular velocity of the first actuator,ω₂ is the angular velocity of the second actuator, D is the diameter (ornumber of teeth) of the rotors coupled to the actuators, and d is thediameter (or number of teeth) of the differential member, such that(D/d) represents the transmission ratio.

As shown in FIG. 5, the first actuator and the second actuator may befixed in position and orientation relative to one another, such thatneither the first actuator nor the second actuator is driven by theother. In such a configuration, actuation of the first actuator does notaffect a position or orientation of the second actuator, and actuationof the second actuator does not affect a position or orientation of thefirst actuator. The first actuator and the second actuator may beactuated independently, for example via separate electrical connections.Accordingly, the first actuator speed and the second actuator speed canbe independent of one another, wherein the difference between the twospeeds can drive movement of the payload about the differential memberaxis. The first actuator and the second actuator can thus collectivelycontrol the attitude of the payload in parallel, such that the stabilityin the two degrees of freedom can be improved.

The components of the gimbal mechanism 300 can be configured so as tohave a compact configuration, thereby minimizing the volume andimproving the stability of the gimbal mechanism. For example, as shownin FIG. 5, the shaft 350 can be configured to extend between the firstactuator 310 and second actuator 320 so as to traverse the centralactuator axis 330. In such a configuration, the differential gear 345 isdisposed on one side of the central actuator axis, while the payload isdisposed on the opposite side across the central actuator axis. In thisconfiguration, rotational movement of the payload 10 about both centralactuator axis 330 and the differential member axis 360 is accommodatedby the central joint member 410, configured to receive the portion 356of the shaft extending between the first and second actuators. Such aconfiguration can provide a more compact gimbal mechanism with a smallervolume, compared to a configuration in which the differential gear andthe payload are both disposed on the same side of the central actuatoraxis, such that the shaft does not extend between the first and secondactuators. Further, such a configuration can improve the stability ofthe movement of the payload about both the central actuator axis and thedifferential member axis 360. Volume minimization and stabilityimprovement can be advantageous for uses of the gimbal mechanism withaerial vehicles.

As shown in FIG. 5, the gimbal mechanism 300 can provide a full rotationof the payload 10 about the central actuator axis 330 and/or about thedifferential member axis 360. For example, the gimbal mechanism may beable to provide at least 360° rotation of the payload about the centralactuator axis and the differential member axis. The gimbal mechanism canbe configured to provide an unlimited number of full rotations about thecentral actuator axis and/or the differential member axis. The gimbalmechanism may be configured to provide rotation in either or bothdirections about the central actuator axis. The gimbal mechanism may beconfigured to provide rotation in either or both directions about thedifferential member axis. To support full rotation of the payload aboutboth axes, components of the gimbal mechanism 300, such as the firstactuator, the second actuator, the differential member, and the centralframe may be configured such that no component obstructs full rotationalmovement of the payload about either axis. The ability to provide fullrotations about two different axes can be particularly advantageous forapplications of the gimbal mechanism in aerial photography, wherein thegimbal is coupled to an aerial vehicle and the payload supported by thegimbal comprises a camera for aerial photography.

The payload 10 may be coupled to the shaft 350 directly, for example viamechanical fasteners, adhesives, or one or more mating connections.Alternatively, the payload may be coupled to the shaft indirectly, forexample via an adapter. The adapter can comprise one or more mechanicalfasteners configured to fasten the payload onto the adapter, or one ormore adhesive surfaces configured to adhere to a surface of the payload.Alternatively or in combination, the adapter can comprise a mountingstructure coupled to the adapter, the mounting structure configured tosecurely couple to the payload, for example via mechanical fasteners,adhesives, or one or more mating connections. Alternatively or incombination, the adapter can comprise an enclosing structure coupled tothe adapter, configured to enclose the payload therein so as to securelyengage the payload.

As shown in FIG. 5, the payload 10 may comprise a camera 20 having anoptical axis 25. The camera may be coupled to the gimbal mechanism suchthat the optical axis is adjustable. The optical axis may be configuredto be orthogonal to both the central actuator axis 330 and thedifferential member axis 360, as shown. In such a configuration, thegimbal mechanism 300 can control the yaw and pitch of the camera 20.Alternatively, the optical axis 25 may be configured to be parallel tothe central actuator axis or to the differential member axis, such thatthe gimbal mechanism can control the roll and yaw or the roll and pitchof the camera. Other orientations of the optical axis of the camera arealso possible.

While the gimbal mechanism 300 as illustrated in FIG. 5 is configured toprovide two degrees of freedom, the mechanism may be further modified toprovide one or more additional degrees of freedom. For example, thegimbal mechanism may comprise a third actuator configured to providerotation of the payload about a third actuator axis different from thecentral actuator axis 330 and the differential member axis 360. For theembodiment illustrated in FIG. 5, the third actuator axis may, forexample, be an axis orthogonal to both the central actuator axis and thedifferential member axis and parallel to the optical axis 25 of thecamera 20, such that the third actuator can control the roll of thecamera. The third actuator can be coupled to the output end 354 of theshaft 350, such that the third actuator is in series with the first andsecond actuators and the differential gear. The payload can be coupledto the third actuator, such that the payload can rotate about thecentral actuator axis, the differential member axis, and the thirdactuator axis.

For all embodiments of the gimbal mechanisms described herein, anactuator may comprise an automatic or machine-driven component such asan electric motor. Alternatively or in combination, an actuator maycomprise a manually-manipulated component such as a lever, a handle, aknob, or a tilting mechanism.

FIG. 6 is a schematic illustration by way of block diagram of a system600 for controlling a gimbal mechanism, in accordance with embodiments.A gimbal mechanism as described herein may be automatically controlledvia a controller 605, configured to generate signals to controlactuation of one or more actuators of the gimbal mechanism. Thecontroller may be disposed in any location from which the controller canbe operatively coupled to the gimbal mechanism. For example, thecontroller may be coupled to a portion of a UAV carrying the gimbalmechanism and a payload. The controller may be coupled to a portion ofthe gimbal mechanism, such as a portion of a support structure asdescribed herein. The controller may receive input signals from an inputsystem 610, wherein the input signals may comprise instructions tochange the position or orientation of a payload coupled to the gimbalmechanism, or instructions to actuate one or more actuators. The inputsystem may comprise a user input system through which a user maydirectly provide instructions to control actuation of the gimbalmechanism. Alternatively or in combination, the input system maycomprise a computer-controlled input system such as an auto-pilotsystem. Depending on the nature of the input signals provided to thecontroller, the controller may provide one or more operations togenerate control signals to be transmitted to the one or more actuators.For example, if the input signals comprise instructions to change theorientation of the payload in a specific direction, the controller maybe configured to calculate the degree of actuation of each actuator ofthe gimbal mechanism required to collectively achieve the desired changein orientation of the payload. The output of the controller may compriseinstructions to each of the one or more actuators to actuate in aspecific direction and by a specific degree. For example, if the gimbalmechanism comprises a first actuator 615 and a second actuator 620, thecontroller may generate separate control signals for the first actuator,and separate control signals for the second actuator. The controlsignals may be transmitted to each actuator via a separate connection,such as a first electrical connection 145 to the first actuator, and asecond electrical connection 195 to the second actuator, as shown inFIG. 1. The controller can thus control the actuation of each actuatorindependently, such that the actuation of each actuator is independentof the actuation of other actuators in the system.

The gimbal mechanisms as described herein may be coupled to an aerialvehicle such as an unmanned aerial vehicle (UAV), to provide movement ofa payload coupled to the aerial vehicle. A gimbal mechanism can becoupled to the aerial vehicle via a support structure (e.g., supportstructure 200, central frame 400), wherein the support structuresupports components of the gimbal mechanism such as a first actuator, asecond actuator, a first coupler, a second coupler, and/or an adapter.The payload may be coupled to the gimbal mechanism as described herein,so as to couple the payload to the support structure and to the aerialvehicle.

The gimbal mechanism as described herein may be coupled to a UAV in manyways. The gimbal mechanism may be fastened directly to a portion of theUAV body. The gimbal mechanism may be fastened indirectly to a portionof the UAV via one or more intermediary structures. For example, thegimbal mechanism may be fastened to the UAV via an isolator, configuredto reduce vibration transmitted from the UAV to the gimbal mechanism.

The gimbal mechanism as described herein may be coupled, either directlyor indirectly such as via an isolator, to a UAV at one of manylocations. For example, the gimbal mechanism may be coupled to a topsurface of the UAV, a bottom surface of the UAV, a front surface of theUAV, or a side surface of the UAV. The gimbal mechanism may be coupledcentrally with respect to the UAV, such that the center of weight of thegimbal mechanism is aligned with a central axis of the body of the UAV.For example, the gimbal mechanism may be coupled to a top or bottomsurface of the UAV such that the gimbal mechanism is disposed at acentral junction of the arms of the UAV. The gimbal mechanism may becoupled to a bottom surface of the UAV such that the gimbal mechanism isdisposed in a region between the landing stands of the UAV.

FIG. 7 illustrates an unmanned aerial vehicle (UAV) 800, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 800 can include apropulsion system having four rotors 802, 804, 806, and 808. Any numberof rotors may be provided (e.g., one, two, three, four, five, six, ormore). The rotors or other propulsion systems of the unmanned aerialvehicle may enable the unmanned aerial vehicle to hover/maintainposition, change orientation, and/or change location. The distancebetween shafts of opposite rotors can be any suitable length 810. Forexample, the length 810 can be less than or equal to 2 m, or less thanequal to 5 m. In some embodiments, the length 810 can be within a rangefrom 40 cm to 7 m, from 70 cm to 2 m, or from 5 cm to 5 m. Anydescription herein of a UAV may apply to a movable object, such as amovable object of a different type, and vice versa.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject).

In some embodiments, the load includes a payload. The payload can beconfigured not to perform any operation or function. Alternatively, thepayload can be a payload configured to perform an operation or function,also known as a functional payload. For example, the payload can includeone or more sensors for surveying one or more targets. Any suitablesensor can be incorporated into the payload, such as an image capturedevice (e.g., a camera), an audio capture device (e.g., a parabolicmicrophone), an infrared imaging device, or an ultraviolet imagingdevice. The sensor can provide static sensing data (e.g., a photograph)or dynamic sensing data (e.g., a video). In some embodiments, the sensorprovides sensing data for the target of the payload. Alternatively or incombination, the payload can include one or more emitters for providingsignals to one or more targets. Any suitable emitter can be used, suchas an illumination source or a sound source. In some embodiments, thepayload includes one or more transceivers, such as for communicationwith a module remote from the movable object. Optionally, the payloadcan be configured to interact with the environment or a target. Forexample, the payload can include a tool, instrument, or mechanismcapable of manipulating objects, such as a robotic arm.

Optionally, the load may include a carrier. The carrier can be providedfor the payload and the payload can be coupled to the movable object viathe carrier, either directly (e.g., directly contacting the movableobject) or indirectly (e.g., not contacting the movable object).Conversely, the payload can be mounted on the movable object withoutrequiring a carrier. The payload can be integrally formed with thecarrier. Alternatively, the payload can be releasably coupled to thecarrier. In some embodiments, the payload can include one or morepayload elements, and one or more of the payload elements can be movablerelative to the movable object and/or the carrier, as described above.

The carrier can be integrally formed with the movable object.Alternatively, the carrier can be releasably coupled to the movableobject. The carrier can be coupled to the movable object directly orindirectly. The carrier can provide support to the payload (e.g., carryat least part of the weight of the payload). The carrier can include asuitable mounting structure (e.g., a gimbal platform) capable ofstabilizing and/or directing the movement of the payload. In someembodiments, the carrier can be adapted to control the state of thepayload (e.g., position and/or orientation) relative to the movableobject. For example, the carrier can be configured to move relative tothe movable object (e.g., with respect to one, two, or three degrees oftranslation and/or one, two, or three degrees of rotation) such that thepayload maintains its position and/or orientation relative to a suitablereference frame regardless of the movement of the movable object. Thereference frame can be a fixed reference frame (e.g., the surroundingenvironment). Alternatively, the reference frame can be a movingreference frame (e.g., the movable object, a payload target).

In some embodiments, the carrier can be configured to permit movement ofthe payload relative to the carrier and/or movable object. The movementcan be a translation with respect to up to three degrees of freedom(e.g., along one, two, or three axes) or a rotation with respect to upto three degrees of freedom (e.g., about one, two, or three axes), orany suitable combination thereof.

In some instances, the carrier can include a carrier frame assembly anda carrier actuation assembly. The carrier frame assembly can providestructural support to the payload. The carrier frame assembly caninclude individual carrier frame components, some of which can bemovable relative to one another. The carrier actuation assembly caninclude one or more actuators (e.g., motors) that actuate movement ofthe individual carrier frame components. The actuators can permit themovement of multiple carrier frame components simultaneously, or may beconfigured to permit the movement of a single carrier frame component ata time. The movement of the carrier frame components can produce acorresponding movement of the payload. For example, the carrieractuation assembly can actuate a rotation of one or more carrier framecomponents about one or more axes of rotation (e.g., roll axis, pitchaxis, or yaw axis). The rotation of the one or more carrier framecomponents can cause a payload to rotate about one or more axes ofrotation relative to the movable object. Alternatively or incombination, the carrier actuation assembly can actuate a translation ofone or more carrier frame components along one or more axes oftranslation, and thereby produce a translation of the payload along oneor more corresponding axes relative to the movable object.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 8 illustrates a movable object 900 including a carrier 902 and apayload 904, in accordance with embodiments. Although the movable object900 is depicted as an aircraft, this depiction is not intended to belimiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV).

In some instances, the payload 904 may be provided on the movable object900 without requiring the carrier 902. The movable object 900 mayinclude propulsion mechanisms 906, a sensing system 908, and acommunication system 910. The propulsion mechanisms 906 can include oneor more of rotors, propellers, blades, engines, motors, wheels, axles,magnets, or nozzles, as previously described herein. The movable objectmay have one or more, two or more, three or more, or four or morepropulsion mechanisms. The propulsion mechanisms may all be of the sametype. Alternatively, one or more propulsion mechanisms can be differenttypes of propulsion mechanisms. In some embodiments, the propulsionmechanisms 906 can enable the movable object 900 to take off verticallyfrom a surface or land vertically on a surface without requiring anyhorizontal movement of the movable object 900 (e.g., without travelingdown a runway). Optionally, the propulsion mechanisms 906 can beoperable to permit the movable object 900 to hover in the air at aspecified position and/or orientation.

For example, the movable object 900 can have multiple horizontallyoriented rotors that can provide lift and/or thrust to the movableobject. The multiple horizontally oriented rotors can be actuated toprovide vertical takeoff, vertical landing, and hovering capabilities tothe movable object 900. In some embodiments, one or more of thehorizontally oriented rotors may spin in a clockwise direction, whileone or more of the horizontally rotors may spin in a counterclockwisedirection. For example, the number of clockwise rotors may be equal tothe number of counterclockwise rotors. The rotation rate of each of thehorizontally oriented rotors can be varied independently in order tocontrol the lift and/or thrust produced by each rotor, and therebyadjust the spatial disposition, velocity, and/or acceleration of themovable object 900 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 908 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 900 (e.g., with respect to up to three degrees of translation andup to three degrees of rotation). The one or more sensors can includeglobal positioning system (GPS) sensors, motion sensors, inertialsensors, proximity sensors, or image sensors. The sensing data providedby the sensing system 908 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 900(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 908 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 910 enables communication with terminal 912having a communication system 914 via wireless signals 916. Thecommunication systems 910, 914 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 900 transmitting data to theterminal 912, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 910 to one or morereceivers of the communication system 912, or vice-versa. Alternatively,the communication may be two-way communication, such that data can betransmitted in both directions between the movable object 900 and theterminal 912. The two-way communication can involve transmitting datafrom one or more transmitters of the communication system 910 to one ormore receivers of the communication system 914, and vice-versa.

In some embodiments, the terminal 912 can provide control data to one ormore of the movable object 900, carrier 902, and payload 904 and receiveinformation from one or more of the movable object 900, carrier 902, andpayload 904 (e.g., position and/or motion information of the movableobject, carrier or payload; data sensed by the payload such as imagedata captured by a payload camera). In some instances, control data fromthe terminal may include instructions for relative positions, movements,actuations, or controls of the movable object, carrier and/or payload.For example, the control data may result in a modification of thelocation and/or orientation of the movable object (e.g., via control ofthe propulsion mechanisms 906), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 902).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 908 or of the payload 904). The communications may include sensedinformation from one or more different types of sensors (e.g., GPSsensors, motion sensors, inertial sensor, proximity sensors, or imagesensors). Such information may pertain to the position (e.g., location,orientation), movement, or acceleration of the movable object, carrierand/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 912 can be configured tocontrol a state of one or more of the movable object 900, carrier 902,or payload 904. Alternatively or in combination, the carrier 902 andpayload 904 can also each include a communication module configured tocommunicate with terminal 912, such that the terminal can communicatewith and control each of the movable object 900, carrier 902, andpayload 904 independently.

In some embodiments, the movable object 900 can be configured tocommunicate with another remote device in addition to the terminal 912,or instead of the terminal 912. The terminal 912 may also be configuredto communicate with another remote device as well as the movable object900. For example, the movable object 900 and/or terminal 912 maycommunicate with another movable object, or a carrier or payload ofanother movable object. When desired, the remote device may be a secondterminal or other computing device (e.g., computer, laptop, tablet,smartphone, or other mobile device). The remote device can be configuredto transmit data to the movable object 900, receive data from themovable object 900, transmit data to the terminal 912, and/or receivedata from the terminal 912. Optionally, the remote device can beconnected to the Internet or other telecommunications network, such thatdata received from the movable object 900 and/or terminal 912 can beuploaded to a website or server.

FIG. 9 is a schematic illustration by way of block diagram of a system1000 for controlling an movable object, in accordance with embodiments.The system 1000 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1000can include a sensing module 1002, processing unit 1004, non-transitorycomputer readable medium 1006, control module 1008, and communicationmodule 1010.

The sensing module 1002 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1002 can beoperatively coupled to a processing unit 1004 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1012 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1012 canbe used to transmit images captured by a camera of the sensing module1002 to a remote terminal.

The processing unit 1004 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1004 can be operatively coupled to a non-transitorycomputer readable medium 1006. The non-transitory computer readablemedium 1006 can store logic, code, and/or program instructionsexecutable by the processing unit 1004 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1002 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1006. Thememory units of the non-transitory computer readable medium 1006 canstore logic, code and/or program instructions executable by theprocessing unit 1004 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1004 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1004 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1004. In some embodiments, thememory units of the non-transitory computer readable medium 1006 can beused to store the processing results produced by the processing unit1004.

In some embodiments, the processing unit 1004 can be operatively coupledto a control module 1008 configured to control a state of the movableobject. For example, the control module 1008 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1008 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1004 can be operatively coupled to a communicationmodule 1010 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication, as described in furtherdetail below. The communication module 1010 can transmit and/or receiveone or more of sensing data from the sensing module 1002, processingresults produced by the processing unit 1004, predetermined controldata, user commands from a terminal or remote controller, and the like.In some embodiments, the communication module 1010 can be configured toimplement adaptive communication mode switching, as described elsewhereherein.

The components of the system 1000 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1000 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 10 depicts asingle processing unit 1004 and a single non-transitory computerreadable medium 1006, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1000 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1000 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A gimbal mechanism for providing movement of apayload about at least two degrees of freedom, the gimbal mechanismcomprising: a first actuator providing rotation about a first actuatoraxis; a second actuator providing rotation about a second actuator axisdifferent from the first actuator axis; a first coupler operativelycoupling the first actuator and the payload, the first couplerconfigured to affect rotation of the payload about the first actuatoraxis; and a second coupler operatively coupling the second actuator andthe payload, the second coupler configured to affect rotation of thepayload about the second actuator axis, wherein the first coupler isconfigured to allow free rotation of the payload about the secondactuator axis, and wherein the second coupler is configured to allowfree rotation of the payload about the first actuator axis.
 2. Thegimbal mechanism of claim 1, wherein both the first coupler and thesecond coupler are directly coupled to the payload.
 3. The gimbalmechanism of claim 2, wherein the first coupler is directly coupled tothe payload at a first location, and the second coupler is directlycoupled to the payload at a second location different from the firstlocation.
 4. The gimbal mechanism of claim 1, wherein actuation of thefirst actuator does not affect a position or orientation of the secondactuator, and wherein actuation of the second actuator does affect aposition or orientation of the first actuator.
 5. The gimbal mechanismof claim 1, wherein the first actuator and the second actuator are fixedin position and orientation relative to one another.
 6. The gimbalmechanism of claim 1, wherein the first actuator and the second actuatorare actuated independently.
 7. The gimbal mechanism of claim 1, whereinthe gimbal mechanism is configured to provide rotation of less than orequal to 90 degrees of the payload about the first actuator axis.
 8. Thegimbal mechanism of claim 1, wherein the gimbal mechanism is configuredto provide rotation of less than or equal to 90 degrees of the payloadabout the second actuator axis.
 9. The gimbal mechanism of claim 1,wherein the first coupler comprises a first cantilever member and afirst joint member, and the second coupler comprises a second cantilevermember and second joint member, the first cantilever member coupled tothe first actuator and the first joint member coupled to the payload,such that the first cantilever member translates a torque generated bythe first actuator to the payload via the first joint member, and thesecond cantilever member coupled to the second actuator and the secondjoint member coupled to the payload, such that the second cantilevermember translates a torque generated by the second actuator to thepayload via the second joint member.
 10. The gimbal mechanism of claim9, wherein the first joint member comprises a first joint member axisconfigured to provide free rotation of the payload about the secondactuator axis, and wherein the second joint member comprises a secondjoint member axis configured to provide free rotation of the payloadabout the first actuator axis.
 11. The gimbal mechanism of claim 10,wherein the first joint member axis and the second joint member axis areconfigured to remain orthogonal to one another during actuation of thefirst actuator or the second actuator, such that the payload is free torotate about both the first actuator axis and the second actuator axis.12. The gimbal mechanism of claim 10, wherein, during actuation of thefirst actuator, the second joint member axis is configured to beco-axial with the first actuator axis, thereby allowing free rotation ofthe payload about the first actuator axis.
 13. The gimbal mechanism ofclaim 10, wherein, during actuation of the second actuator, the firstjoint member axis is configured to be co-axial with the second actuatoraxis or with an axis comprising a component of the second actuator axis,thereby allowing free rotation of the payload about the second actuatoraxis.
 14. The gimbal mechanism of claim 9, wherein the second cantilevermember comprises a plurality of cantilever components, the plurality ofcantilever components movably coupled to one so as to allow adjustmentof the orientation of the second joint member during actuation of thefirst actuator or the second actuator.
 15. The gimbal mechanism of claim14, wherein the second cantilever component comprises a first cantilevercomponent and a second cantilever component, the first cantilevercomponent and the second cantilever component movably coupled to oneanother via a hinge, and the hinge configured to provide free rotationof the second cantilever component about a hinge axis.
 16. The gimbalmechanism of claim 1, further comprising a support structure, whereinthe first actuator and the second actuator are coupled to the supportstructure.
 17. The gimbal mechanism of claim 16, wherein the supportstructure has a fixed configuration.
 18. The gimbal mechanism of claim16, wherein the first actuator is coupled to the support structure at afirst location, and the second actuator is coupled to the supportstructure at a second location different from the first location. 19.The gimbal mechanism of claim 18, wherein the first location is disposedon a first plane, and the second location is disposed on a second planeorthogonal to the first plane.
 20. The gimbal mechanism of claim 16,wherein each of the first actuator and the second actuator are coupleddirectly to the support structure.
 21. The gimbal mechanism of claim 1,wherein the first actuator axis and the second actuator axis arepositioned at a 90 degree angle relative to one another.
 22. The gimbalmechanism of claim 1, wherein the payload is a camera, and wherein anoptical axis of the camera is adjustable.
 23. The gimbal mechanism ofclaim 1, wherein the payload is a camera, and wherein an optical axis ofthe camera is orthogonal to both the first actuator axis and the secondactuator axis.
 24. The gimbal mechanism of claim 1, wherein the payloadis a camera, and wherein an optical axis of the camera is parallel tothe first actuator axis
 25. The gimbal mechanism of claim 1, wherein thepayload is a camera, and wherein an optical axis of the camera isparallel to the second actuator axis.
 26. The gimbal mechanism of claim1, further comprising a third actuator providing rotation about a thirdactuator axis, the third actuator axis different from the first actuatoraxis and the second actuator axis.
 27. The gimbal mechanism of claim 26,wherein the third actuator is coupled to the first actuator or thesecond actuator.
 28. The gimbal mechanism of claim 26, wherein the thirdactuator axis is orthogonal to both the first actuator axis and thesecond actuator axis.
 29. The gimbal mechanism of claim 26, wherein thepayload is coupled to the third actuator.
 30. The gimbal mechanism ofclaim 1, wherein the gimbal mechanism is coupled to an unmanned aerialvehicle via a support structure supporting the first actuator, thesecond actuator, the first coupler, the second coupler, and the payload.